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AP10.1 A three-axis pick-and-place application requires the precise movement of a robotic arm in three- dimensional space, as shown in Figure AP10.1 for joint 2. The arm has specific linear paths it must follow to avoid other pieces of machinery. The overshoot for a step input should be less than 13%. (a) Let Ge(s) = K, and determine the gain K that sat- isfies the requirement. Determine the resulting settling time (with a 2% criterion). (b) Use a lead network and reduce the settling time to less than 3 seconds. FIGURE AP10.1 Pick-and-place robot. Motor 4 R(s) Motor 1 Ge(s) (a) (b) Motor 2 Motor 3 1 s(s+ 1)(s + 4) Y(s)

AP10.1 A three-axis pick-and-place application requires the precise movement of a robotic arm in three- dimensional space, as shown in Figure AP10.1 for joint 2. The arm has specific linear paths it must follow to avoid other pieces of machinery. The overshoot for a step input should be less than 13%. (a) Let Ge(s) = K, and determine the gain K that sat- isfies the requirement. Determine the resulting settling time (with a 2% criterion). (b) Use a lead network and reduce the settling time to less than 3 seconds. FIGURE AP10.1 Pick-and-place robot. Motor 4 R(s) Motor 1 Ge(s) (a) (b) Motor 2 Motor 3 1 s(s+ 1)(s + 4) Y(s)

Understanding Motor Controls
Understanding Motor Controls
4th Edition
ISBN:9781337798686
Author:Stephen L. Herman
Publisher:Stephen L. Herman
Chapter54: The Operational Amplifier
Section: Chapter Questions
Problem 7RQ: Name two effects of negative feedback.
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AP10.1 A three-axis pick-and-place application requires the precise movement of a robotic arm in three- dimensional space, as shown in Figure AP10.1 for joint 2. The arm has specific linear paths it must follow to avoid other pieces of machinery. The overshoot for a step input ould less than 13%. (a) Let Ge(s) = K, and determine the gain K that sat- isfies the requirement. Determine the resulting settling time (with a 2% criterion). (b) Use a lead network and reduce the settling time to less than 3 seconds. FIGURE AP10.1 Pick-and-place robot. Motor 4 Motor 1 R(s). Ge(s) (a) (b) Motor 2 Motor 3 1 s(s+ 1)(s + 4) Y(s)
Transcribed Image Text:AP10.1 A three-axis pick-and-place application requires the precise movement of a robotic arm in three- dimensional space, as shown in Figure AP10.1 for joint 2. The arm has specific linear paths it must follow to avoid other pieces of machinery. The overshoot for a step input ould less than 13%. (a) Let Ge(s) = K, and determine the gain K that sat- isfies the requirement. Determine the resulting settling time (with a 2% criterion). (b) Use a lead network and reduce the settling time to less than 3 seconds. FIGURE AP10.1 Pick-and-place robot. Motor 4 Motor 1 R(s). Ge(s) (a) (b) Motor 2 Motor 3 1 s(s+ 1)(s + 4) Y(s)
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